/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package edu.wpi.first.wpilibj.templates;

import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the SimpleRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class RobotTemplate extends SimpleRobot
{
    Team997RobotDrive drivetrain;
    Joystick leftStick;
    Joystick rightStick;

    public RobotTemplate()
    {
        // 1+2 are left wheels,  3,4 are right wheels
        // 1 is shooter, 4 is turret, 3 is pickup.
        drivetrain = new Team997RobotDrive(1,2,3,4);
        leftStick = new Joystick(1);
        rightStick = new Joystick(2);
        getWatchdog().setEnabled(true);
         getWatchdog().feed();
    }

    public void autonomous()
    {
        for(int i = 0; i <4; i++)
        {
            getWatchdog().feed();
            drivetrain.drive(0.5, 0.0);     //drive 50% fwd 0% turn
            Timer.delay(2.0);               //wait 2 seconds
            drivetrain.drive(0.0, 0.75);    //drive 0% fwd 5% turn
        }
        drivetrain.drive(0.0, 0.0);
    }

    /**
     * This function is called once each time the robot enters operator control.
     */
    public void operatorControl()
    {
        double leftValue, rightValue;
        double max =0;
        while(true && isOperatorControl() && isEnabled())   //loop until change
        {

            getWatchdog().feed();
            leftValue = leftStick.getY();
            if (leftValue>max){
                max = leftValue;
                System.out.println(max);            
            }

            rightValue = rightStick.getY();
            drivetrain.tankDrive(leftValue, rightValue);    //drive with joysticks

            Timer.delay(0.0005);

        }
    }
}
